EP3634902A1 - Windenanordnung zur unterstützung der bewegung eines kettenfahrzeugs und steuerverfahren dafür - Google Patents

Windenanordnung zur unterstützung der bewegung eines kettenfahrzeugs und steuerverfahren dafür

Info

Publication number
EP3634902A1
EP3634902A1 EP18734966.7A EP18734966A EP3634902A1 EP 3634902 A1 EP3634902 A1 EP 3634902A1 EP 18734966 A EP18734966 A EP 18734966A EP 3634902 A1 EP3634902 A1 EP 3634902A1
Authority
EP
European Patent Office
Prior art keywords
signal
winch
measured
cable
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18734966.7A
Other languages
English (en)
French (fr)
Inventor
Alberto PAOLETTI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Prinoth SpA
Original Assignee
Prinoth SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Prinoth SpA filed Critical Prinoth SpA
Publication of EP3634902A1 publication Critical patent/EP3634902A1/de
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/485—Control devices automatic electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/08—Driving gear incorporating fluid motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • B66D1/74—Capstans
    • B66D1/7442—Capstans having a horizontal rotation axis
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D2700/00—Capstans, winches or hoists
    • B66D2700/01—Winches, capstans or pivots
    • B66D2700/0125—Motor operated winches
    • B66D2700/0133—Fluid actuated
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
    • E01H4/02—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow for sporting purposes, e.g. preparation of ski trails; Construction of artificial surfacings for snow or ice sports ; Trails specially adapted for on-the-snow vehicles, e.g. devices adapted for ski-trails

Definitions

  • control method works well within certain limits but is not very suitable when very short reaction times and strong robustness with respect to internal and external troubles are required.
  • the winch control device comprises a first frequency-adjustable active filter and an oscillation detector configured to receive, as input, the measured force signal and provide, as output, one or more frequency values if an oscillation in the measured force signal is detected; the first active filter being frequency-adjusted according to the frequency or frequencies detected by the oscillation detector so as to damp or eliminate the oscillations in the pulling force; the winch control device being configured to define the first control signal by means of the first active filter; preferably, the oscillation detector being configured to detect the oscillations by detecting the frequencies related to the harmonics having amplitude values greater than a given value and within a first range of detection frequencies.
  • the winch control device defines the first control signal according to the measured pulling force signal indicating the pulling force measured on the winch assembly.
  • the first control signal involved in adjusting the pulling force of the winch assembly is a feedback-controlled signal so that the desired force value is equal to that of the current winch force .
  • the winch control device defines the first control signal according to the desired pulling force signal defined through an external manual command given by an operator.
  • the winch control device defines the second control signal according to the wound cable length signal.
  • the winch control device defines the second control signal according to the signal from the engine revolutions of the tracked vehicle.
  • the actuator assembly comprises a hydraulic circuit and a variable displacement pump which supplies the hydraulic circuit and is configured to vary its displacement according to: the pressure measured in the high pressure branch of the hydraulic circuit, the pressure indicated by the first control signal, and preferably according to the second control signal.
  • the tracked vehicle 1 comprises a chassis 2; two tracks 3 (only one shown in Figure 1) ; two drive wheels 4 (only one shown in Figure 1) operatively coupled to the respective tracks 3; a cabin 6; a user interface 7 located in the cabin 6; a shovel 8 supported at the front by the chassis 2; a tiller 9 supported at the rear by the chassis 2; a winch assembly 10 fixed to the chassis 2; an engine 11, preferably an internal combustion engine; and a power transmission 12 (partially visible in Figure 3) operatively connected to the internal combustion engine 11, the drive wheels 4, the shovel 8 and the tiller 9. Moreover, the power transmission 12 connects the engine 11 to the winch assembly 10.
  • the actuator assembly 17 comprises a hydraulic choke valve 24, the input of which is connected to the high- pressure branch of the hydraulic circuit.
  • the choke valve 24 is connected to the winch control device 13a for receiving and be controlled through the first control signal SCI.
  • the choke valve adjusts its own output according to the first control signal SCI.
  • the winch control device 13a comprises a force sensor 26, in particular a load cell, coupled to the cable 16 for detecting the pulling force exhibited by the cable 16.
  • the force sensor 26 determines and emits a measured pulling force signal FF indicative of the pulling force measured on the cable 16.
  • the winch assembly 10 comprises a cable speed sensor
  • the winch assembly 10 comprises a wound cable sensor coupled to the cable to measure the amount of cable wound around the drum.
  • the wound cable sensor determines and sends a measured wound cable length signal S7 to the winch control device.
  • the wound cable sensor comprises a computing unit which calculates the amount of wound cable according to the number of positive or negative revolutions of the drum.
  • the sensor that detects the number of revolutions of the drum can be part of the wound cable sensor or be a stand-alone sensor.
  • the winch control device 13a is configured to determine the first and second control signals SCI and SC2 according to the signal S2 from the measured speed of travel of the tracked vehicle 1; the measured pulling force signal FF; the cable speed signal S3; the wound cable length signal S7; the measured angle signal S5 and the desired force signal S4.
  • one or more of the signals listed above are omitted in the determination of the first control signal SCI and the second control signal SC2 by the winch control device 13a.
  • the winch control device 13a comprises a computing unit 30 configured to calculate a desired theoretical force signal SFTD, indicative of a desired theoretical pulling force value.
  • the control unit 30 receives the measured angle signal S5, the cable speed signal S3, the desired pulling force signal S4, the measured speed of travel signal S2, as input, and defines the desired theoretical force signal SFTD according to the input signals.
  • the computing unit 30 receives the track pressure signal SI, as input, and defines the desired theoretical force signal SFTD also according to said signal together with the signals listed above.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
EP18734966.7A 2017-06-09 2018-06-08 Windenanordnung zur unterstützung der bewegung eines kettenfahrzeugs und steuerverfahren dafür Pending EP3634902A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102017000064293A IT201700064293A1 (it) 2017-06-09 2017-06-09 Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
PCT/IB2018/054163 WO2018225031A1 (en) 2017-06-09 2018-06-08 Winch assembly for assisting the movement of a tracked vehicle and control method thereof

Publications (1)

Publication Number Publication Date
EP3634902A1 true EP3634902A1 (de) 2020-04-15

Family

ID=60081209

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18734966.7A Pending EP3634902A1 (de) 2017-06-09 2018-06-08 Windenanordnung zur unterstützung der bewegung eines kettenfahrzeugs und steuerverfahren dafür

Country Status (7)

Country Link
US (1) US11753283B2 (de)
EP (1) EP3634902A1 (de)
CN (1) CN109019379B (de)
CA (1) CA3065740A1 (de)
IT (1) IT201700064293A1 (de)
RU (1) RU2771072C2 (de)
WO (1) WO2018225031A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210139299A1 (en) * 2019-11-13 2021-05-13 Polaris Industries Inc. Winch Control System
IT202100032639A1 (it) * 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
DE102022202414A1 (de) * 2022-03-10 2023-09-14 Kässbohrer Geländefahrzeug Aktiengesellschaft Verfahren zur Steuerung einer Windenanordnung einer Pistenraupe, Vorrichtung zur Durchführung des Verfahrens und Pistenraupe
AT526150B1 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände

Family Cites Families (17)

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Publication number Priority date Publication date Assignee Title
FR2129871B1 (de) * 1971-03-17 1975-02-21 Poclain Sa
SU519388A1 (ru) * 1974-01-02 1976-06-30 Всесоюзный научно-исследовательский институт строительного и дорожного машиностроения Устройство дл дистанционного управлени лебедкой грузоподъемного механизма
SU1293098A1 (ru) * 1984-12-20 1987-02-28 Всесоюзный конструкторско-технологический институт по механизации монтажных и специальных строительных работ Устройство дл управлени лебедками стрелового крана
DE19654547C2 (de) * 1996-12-27 1999-03-18 Kaessbohrer Gelaendefahrzeug Verfahren zum Betreiben einer Winde und zugehörige Vorrichtung
IT1316116B1 (it) * 2000-01-21 2003-03-28 Leitner Spa Dispositivo per la impostazione e regolazione automatica della forzadi trazione di una fune di un verricello sopratesta per una macchina
DE10261944A1 (de) * 2002-12-17 2004-07-01 Kässbohrer Geländefahrzeug AG Verfahren zur Steuerung einer Seilwinde eines Pistenpflegefahrzeugs und Pistenpflegefahrzeug
DE10322377A1 (de) * 2003-05-13 2004-12-02 Kässbohrer Geländefahrzeug AG Pistenpflegefahrzeug und Verfahren zur Fahrantriebssteuerung eines Pistenpflegefahrzeugs
CN2767413Y (zh) * 2004-12-31 2006-03-29 山东泰山天盾矿山机械有限公司 矿用提升铰车紧急制动装置
JP3869843B2 (ja) * 2005-01-18 2007-01-17 三井造船株式会社 トロール曳網装置およびその方法
JP4851851B2 (ja) * 2006-06-02 2012-01-11 カヤバ工業株式会社 ミキサドラム駆動装置
CN101011980A (zh) 2007-02-26 2007-08-08 扬州扬子江柴油机配件厂 电机驱动式液压助力转向系统的控制装置
IT1394923B1 (it) * 2009-02-18 2012-07-27 Rolic Invest Sarl Veicolo battipista comprendente un gruppo verricello di ausilio alla movimentazione del veicolo battipista lungo pendii ripidi e metodo di azionamento del gruppo verricello
IT1395088B1 (it) * 2009-03-12 2012-09-05 Rolic Invest Sarl Veicolo battipista e metodo di controllo dello stesso
DE102010049984A1 (de) * 2010-10-19 2012-04-19 Kässbohrer Geländefahrzeug AG Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs und Pistenraupe
DE102011080466A1 (de) * 2011-08-04 2013-02-07 Kässbohrer Geländefahrzeug AG Verfahren zum Analysieren eines Verschleißzustandes eines Windenseiles und Vorrichtung zur Durchführung des Verfahrens
ITMI20120922A1 (it) * 2012-05-28 2013-11-29 Snowgrolic S A R L Metodo di controllo, programma per elaboratore elettronico e dispositivo di controllo di un veicolo cingolato
US9663335B2 (en) * 2014-08-27 2017-05-30 Caterpillar Inc. Hydraulic winch control system and method

Also Published As

Publication number Publication date
CA3065740A1 (en) 2018-12-13
WO2018225031A1 (en) 2018-12-13
RU2019140858A (ru) 2021-07-13
RU2019140858A3 (de) 2021-10-20
US20200115202A1 (en) 2020-04-16
IT201700064293A1 (it) 2018-12-09
US11753283B2 (en) 2023-09-12
CN109019379B (zh) 2021-05-25
RU2771072C2 (ru) 2022-04-26
CN109019379A (zh) 2018-12-18

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